﻿@INPROCEEDINGS{SPSA11,
  AUTHOR      = {R.~W. Sinnet and M.~J. Powell and R.~P. Shah and A.~D. Ames},
  TITLE       = {A Human-Inspired Hybrid Control Approach to Bipedal Robotic Walking},
  BOOKTITLE   = {Proceedings of the 18th IFAC World Congress},
  PAGES       = {6904--11},
  ADDRESS     = {Milan},
  MONTH       = sep,
  YEAR        = 2011,
}

@ARTICLE{SA90,
  AUTHOR      = {J.~S. Shamma and M. Athans},
  JOURNAL     = {IEEE Transactions on Automatic Control},
  TITLE       = {Analysis of gain scheduled control for nonlinear plants},
  YEAR        = 1990,
  MONTH       = aug,
  VOLUME      = 35,
  NUMBER      = {8},
  PAGES       = {898--907},
}

@article{SA91,
  AUTHOR      = {J.~S. Shamma and M. Athans},
  TITLE       = {Guaranteed properties of gain scheduled control for linear parameter-varying plants},
  JOURNAL     = {Automatica},
  VOLUME      = 27,
  NUMBER      = 3,
  MONTH       = apr,
  YEAR        = 1991,
  PAGES       = {559--64},
  PUBLISHER   = {Pergamon Press, Inc.},
  ADDRESS     = {Tarrytown, NY, USA},
}

@ARTICLE{DW97,
  AUTHOR      = {Divelbiss, A.W. and Wen, J.T.},
  JOURNAL     = {IEEE Transactions on Control Systems Technology},
  TITLE       = {Trajectory tracking control of a car-trailer system},
  YEAR        = 1997,
  MONTH       = may,
  VOLUME      = 5,
  NUMBER      = 3,
  PAGES       = {269--78},
}

@INPROCEEDINGS{KKMN90,
  AUTHOR      = {Y. Kanayama and Y. Kimura and F. Miyazaki and T. Noguchi},
  BOOKTITLE   = {Proceedings of the 1990 IEEE International Conference on Robotics and Automation},
  TITLE       = {A stable tracking control method for an autonomous mobile robot},
  YEAR        = 1990,
  MONTH       = may,
  VOLUME      = 1,
  PAGES       = {384--9},
}

@ARTICLE{WTSML94,
  AUTHOR      = {G. Walsh and D. Tilbury and S.~S. Sastry and R.~M. Murray and J.~P Laumond},
  JOURNAL     = {IEEE Transactions on Automatic Control},
  TITLE       = {Stabilization of trajectories for systems with nonholonomic constraints},
  YEAR        = 1994,
  MONTH       = jan,
  VOLUME      = 39,
  NUMBER      = 1,
  PAGES       = {216--22},
}

@BOOK{Khalil01,
  AUTHOR      = {H.~K. Khalil},
  TITLE       = {Nonlinear Systems},
  EDITION     = 3,
  YEAR        = 2001,
  ADDRESS     = {New Jersey},
  PUBLISHER   = {Prentice Hall},
}

@INPROCEEDINGS{SPJA11,
  AUTHOR      = {R.~W. Sinnet and M.~J. Powell and Shu Jiang and A.~D. Ames},
  TITLE       = {Compass Gait Revisited: A Human Data Perspective with Extensions to Three Dimensions},
  BOOKTITLE   = {Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference},
  ADDRESS     = {Orlando},
  MONTH       = dec,
  YEAR        = 2011,
  PAGES       = {682--9},
}

@INPROCEEDINGS{hscc_2012_acp,
  AUTHOR      = {A.~D. Ames and E.~A. Cousineau and M.~J. Powell},
  TITLE       = {Dynamically Stable Bipedal Robotic Walking with {NAO} via Human-Inspired Hybrid Zero Dynamics},
  BOOKTITLE   = {Hybrid Systems: Computation and Control},
  YEAR        = 2012,
  ADDRESS     = {Beijing},
}

@ARTICLE{GAP01,
  AUTHOR      = {J.~W. Grizzle and G. Abba and F. Plestan},
  TITLE       = {Asymptotically Stable Walking for Biped Robots: Analysis via Systems with Impulse Effects},
  MONTH       = jan,
  YEAR        = 2001,
  JOURNAL     = TAC,
  VOLUME      = 46,
  NUMBER      = 1,
  PAGES       = {51--64},
}

@INPROCEEDINGS{acc_2012_sa_01,
  AUTHOR      = {R.~W. Sinnet and A.~D. Ames},
  TITLE       = {Extending Two-Dimensional Human-Inspired Bipedal Robotic Walking to Three Dimensions through Geometric Reduction},
  BOOKTITLE   = {2012 American Control Conference},
  ADDRESS     = {Montreal},
  MONTH       = jun,
  YEAR        = 2012,
  NOTE        = {Preprint: \url{http://rwsinnet.com/papers/acc_2012_sa_01.html}},
}

@BOOK{MLS94,
  AUTHOR      = {R.~M. Murray and {Zexiang} Li and S.~S. Sastry},
  TITLE       = {A Mathematical Introduction to Robotic Manipulation},
  PUBLISHER   = CRC,
  YEAR        = 1994,
  ADDRESS     = {Boca Raton},
}

@ARTICLE{HM94,
  AUTHOR      = {Y. H{\"u}rm{\"u}zl{\"u} and D.~B. Marghitu},
  TITLE       = {Rigid body collions of planar kinematic chains with multiple contact points},
  JOURNAL     = IJRR,
  YEAR        = 1994,
  VOLUME      = 13,
  NUMBER      = 1,
  PAGES       = {82--92},
}

@BOOK{PC89,
  TITLE       = {Practical numerical algorithms for chaotic systems},
  AUTHOR      = {T.~S. Parker and L.~O. Chua},
  MONTH       = aug,
  YEAR        = 1989,
  ADDRESS     = {New York},
  PUBLISHER   = {Springer},
}

@INPROCEEDINGS{GCAS10,
  AUTHOR      = {J.~W. Grizzle and C. Chevallereau and A.~D. Ames and R.~W. Sinnet},
  TITLE       = {{3D} bipedal robotic walking: models, feedback control, and open problems},
  BOOKTITLE   = {IFAC Symposium on Nonlinear Control Systems},
  ADDRESS     = {Bologna},
  MONTH       = sep,
  YEAR        = 2010,
}

@BOOK{PB10,
  AUTHOR      = {J. Perry and J. Burnfield},
  TITLE       = {Gait Analysis: Normal and Pathological Function},
  ADDRESS     = {Thorofare},
  PUBLISHER   = {Slack Incorporated},
  EDITION     = 2,
  YEAR        = 2010,
}

@INPROCEEDINGS{SA09a,
  AUTHOR      = {R.~W. Sinnet and A.~D. Ames},
  TITLE       = {{2D} Bipedal Walking with Knees and Feet: A Hybrid Control Approach},
  BOOKTITLE   = {Joint 48th IEEE Conf. on Decision and Control and 28th Chinese Control Conf.},
  ADDRESS     = {Shanghai},
  MONTH       = dec,
  YEAR        = 2009,
  PAGES       = {3200--3207},
}

@ARTICLE{CAD04,
  AUTHOR      = {C. Chevallereau and A. Formal'sky and D. Djoudi},
  TITLE       = {Tracking a joint path for the walk of an underactuated biped},
  VOLUME      = 22,
  NUMBER      = 1,
  JOURNAL     = {Robotica},
  MONTH       = jan,
  YEAR        = 2004,
  PAGES       = {15--28},
}

@ARTICLE{SB05,
  AUTHOR      = {M.~W. Spong and F. Bullo},
  TITLE       = {Controlled Symmetries and Passive Walking},
  JOURNAL     = TAC,
  YEAR        = 2005,
  VOLUME      = 50,
  NUMBER      = 7,
  PAGES       = {1025--1031}
}

@ARTICLE{CRTW05,
  AUTHOR      = {S. Collins and A. Ruina and R. Tedrake and M. Wisse},
  TITLE       = {Efficient Bipedal Robots Based on Passive-Dynamic Walkers},
  JOURNAL     = {Science},
  VOLUME      = 307,
  PAGES       = {1082--1085},
  MONTH       = feb,
  YEAR        = 2005,
}
% ZMP
@INPROCEEDINGS{FAA10,
  AUTHOR      = {N. Fatehi and A. Akbarimajd and M. Asadpour},
  TITLE       = {ZMP analysis for dynamic walking of a passivity-based biped robot with flat feet},
  BOOKTITLE   = {Intl. Conf. on Control Automation and Systems},
  MONTH       = oct,
  YEAR        = 2010,
  ADDRESS     = {Gyeonggi-do},
}

@INPROCEEDINGS{KKKFHYH06,
  AUTHOR      = {S. Kajita and F. Kanehiro and K. Kaneko and K. Fujiwara and K. Harada and K. Yokoi and H. Hirukawa},
  TITLE       = {Biped Walking Pattern Generator Allowing Auxiliary ZMP Control},
  BOOKTITLE   = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems},
  MONTH       = may,
  YEAR        = 2006,
  PAGES       = {2993--2999},
  ADDRESS     = {Beijing},
}

@ARTICLE{VB04,
  AUTHOR      = {M. Vukobratovi{\'c} and B. Borovac},
  TITLE       = {Zero-Moment Point---Thirty-Five Years of Its Life},
  JOURNAL     = {Intl. J. of Humanoid Robotics},
  VOLUME      = 1,
  NUMBER      = 1,
  MONTH       = {mar},
  YEAR        = 2005,
  PAGES       = {157--173},
}

% HZD
@ARTICLE{CDG08,
  AUTHOR      = {C. Chevallereau and D. Djoudi and J. W. Grizzle},
  TITLE       = {Stable Bipedal Walking with Foot Rotation Through Direct Regulation of the Zero Moment Point},
  JOURNAL     = TRO,
  VOLUME      = 25,
  NUMBER      = 2,
  PAGES       = {390--401},
  MONTH       = apr,
  YEAR        = 2008,
}

@ARTICLE{WGK03,
  AUTHOR      = {E.~R. Westervelt and J.~W. Grizzle and D.~E. Koditschek},
  TITLE       = {Hybrid Zero Dynamics of Planar Biped Walkers},
  JOURNAL     = TAC,
  MONTH       = jan,
  YEAR        = 2003,
  VOLUME      = 48,
  NUMBER      = 1,
  PAGES       = {42--56},
}

@BOOK{WGCCM07,
  AUTHOR      = {E.~R. Westervelt and J.~W. Grizzle and C. Chevallereau and J.~H. Choi and B. Morris},
  TITLE       = {Feedback Control of Dynamic Bipedal Robot Locomotion},
  PUBLISHER   = CRC,
  MONTH       = jun,
  YEAR        = {2007},
  ADDRESS     = {Boca Raton},
}

% compliance-based
@INPROCEEDINGS{PDP97,
  AUTHOR      = {J. Pratt and P. Dilworth and G. Pratt},
  TITLE       = {Virtual Model Control of a Bipedal Walking Robot},
  BOOKTITLE   = {IEEE Intl. Conf. on Robotics and Automation},
  PAGES       = {193--198},
  MONTH       = apr,
  YEAR        = 1997,
  ADDRESS     = {Albuquerque},
}

% CPG
@ARTICLE{RH02,
  AUTHOR      = {T. Reil and P. Husbands},
  TITLE       = {Evolution of Central Pattern Generators for Bipedal Walking in a Real-Time Physics Environment},
  JOURNAL     = {IEEE Trans. on Evolutionary Computation},
  PAGES       = {159--168},
  VOLUME      = 6,
  NUMBER      = 2,
  MONTH       = apr,
  YEAR        = 2002,
}
@INPROCEEDINGS{TAT03,
  AUTHOR      = {K. Tsuchiya and S. Aoi and K. Tsujita},
  TITLE       = {Locomotion Control of a Biped Locomotion Robot Using Nonlinear Oscillators},
  BOOKTITLE   = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems},
  PAGES       = {1745--1750},
  MONTH       = oct,
  YEAR        = 2003,
  ADDRES      = {Las Vegas},
}

% rough terrain
@INPROCEEDINGS{BT08,
  AUTHOR      = {K. Byl and R. Tedrake},
  TITLE       = {Approximate Optimal Control of the Compass Gait on Rough Terrain},
  BOOKTITLE   = {IEEE Intl. Conf. on Robotics and Automation},
  MONTH       = may,
  YEAR        = 2008,
  ADDRESS     = {Pasadena},
}

@INPROCEEDINGS{MMIT09,
  AUTHOR      = {I.~R. Manchester and U. Mettin and F. Iida and R. Tedrake},
  TITLE       = {Stable Dynamic Walking over Rough Terrain: Theory and Experiment},
  BOOKTITLE   = {14th Intl. Sym. on Robotics Research},
  MONTH       = sep,
  YEAR        = 2009,
  ADDRESS     = {Lucerne},
}
